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Small but important tweaks

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This commit is contained in:
Pavel Lutskov
2018-07-01 17:54:59 +02:00
parent cbdac79911
commit a01189e016
2 changed files with 29 additions and 24 deletions
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13
pykick/__main__.py
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@@ -48,12 +48,12 @@ if __name__ == '__main__':
_, _, gcc = striker.goal_search()
print('Goal center', gcc, 'Ball dist', bdist)
if abs(gcc) < 0.2 or bdist <= 0.35:
if abs(gcc) < 0.3 or bdist <= 0.40:
print('Straight approach')
state = 'straight_approach'
approach = 0
elif 0.35 < bdist < 0.50:
elif 0.40 < bdist < 0.60:
print('Rdist is hypo')
state = 'rdist_is_hypo'
approach = 1 if gcc < 0 else - 1
@@ -91,8 +91,10 @@ if __name__ == '__main__':
striker.mover.move_to(0, 0, angle)
striker.mover.wait()
if rdist > 1.5:
striker.run_to_ball(1.5)
if rdist > 2:
striker.run_to_ball(rdist / 2)
striker.mover.wait()
striker.mover.move_to(0, 0, -angle)
striker.mover.wait()
else:
striker.run_to_ball(rdist)
@@ -179,7 +181,7 @@ if __name__ == '__main__':
# [ | yes v ]
# [ | Ball distance <-- Goal angle > thr ]
# [ | / | \ | ]
# [ | > 50 cm / |(35,50) \ < 35cm | no ]
# [ | > 60 cm / |(40,60) \ < 40cm | no ]
# [ | / v \ v ]
# [ +- Distance is < Walk is hypo \ Straight approach ]
# [ | hypo | > until goal align ]
@@ -190,3 +192,4 @@ if __name__ == '__main__':
# [ |( | ( |( Ball Goal align ]
# [ | \ | \_ | \ <-- align <-- (if lost ball run backwards) ]
# [_______________________________________________________________]
#